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Commit 7b79eaf5 authored by Andrey Kamaev's avatar Andrey Kamaev Committed by OpenCV Buildbot
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Merge pull request #511 from aritzlc:master

parents 242a6de7 0448f240
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modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
View file @ 7b79eaf5
......@@ -68,7 +68,7 @@ is extended as:
.. math::
\begin{array}{l} \vecthree{x}{y}{z} = R \vecthree{X}{Y}{Z} + t \\ x' = x/z \\ y' = y/z \\ x'' = x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2(r^2 + 2 x'^2) \\ y'' = y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' \\ \text{where} \quad r^2 = x'^2 + y'^2 \\ u = f_x*x'' + c_x \\ v = f_y*y'' + c_y \end{array}
\begin{array}{l} \vecthree{x}{y}{z} = R \vecthree{X}{Y}{Z} + t \\ x' = x/z \\ y' = y/z \\ x'' = x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4 \\ y'' = y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_1 r^2 + s_2 r^4 \\ \text{where} \quad r^2 = x'^2 + y'^2 \\ u = f_x*x'' + c_x \\ v = f_y*y'' + c_y \end{array}
:math:`k_1`,
:math:`k_2`,
......@@ -78,11 +78,15 @@ is extended as:
:math:`k_6` are radial distortion coefficients.
:math:`p_1` and
:math:`p_2` are tangential distortion coefficients.
:math:`s_1`,
:math:`s_2`,
:math:`s_3`, and
:math:`s_4`, are the thin prism distortion coefficients.
Higher-order coefficients are not considered in OpenCV. In the functions below the coefficients are passed or returned as
.. math::
(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])
(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])
vector. That is, if the vector contains four elements, it means that
:math:`k_3=0` .
......@@ -133,7 +137,7 @@ Finds the camera intrinsic and extrinsic parameters from several views of a cali
:param cameraMatrix: Output 3x3 floating-point camera matrix :math:`A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}` . If ``CV_CALIB_USE_INTRINSIC_GUESS`` and/or ``CV_CALIB_FIX_ASPECT_RATIO`` are specified, some or all of ``fx, fy, cx, cy`` must be initialized before calling the function.
:param distCoeffs: Output vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements.
:param distCoeffs: Output vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 or 12 elements.
:param rvecs: Output vector of rotation vectors (see :ocv:func:`Rodrigues` ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
......@@ -152,6 +156,11 @@ Finds the camera intrinsic and extrinsic parameters from several views of a cali
* **CV_CALIB_FIX_K1,...,CV_CALIB_FIX_K6** The corresponding radial distortion coefficient is not changed during the optimization. If ``CV_CALIB_USE_INTRINSIC_GUESS`` is set, the coefficient from the supplied ``distCoeffs`` matrix is used. Otherwise, it is set to 0.
* **CV_CALIB_RATIONAL_MODEL** Coefficients k4, k5, and k6 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.
* **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.
* **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during the optimization. If ``CV_CALIB_USE_INTRINSIC_GUESS`` is set, the coefficient from the supplied ``distCoeffs`` matrix is used. Otherwise, it is set to 0.
:param criteria: Termination criteria for the iterative optimization algorithm.
......@@ -563,7 +572,7 @@ Finds an object pose from 3D-2D point correspondences.
:param cameraMatrix: Input camera matrix :math:`A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}` .
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 or 12 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param rvec: Output rotation vector (see :ocv:func:`Rodrigues` ) that, together with ``tvec`` , brings points from the model coordinate system to the camera coordinate system.
......@@ -595,7 +604,7 @@ Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
:param cameraMatrix: Input camera matrix :math:`A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}` .
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 or 12 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param rvec: Output rotation vector (see :ocv:func:`Rodrigues` ) that, together with ``tvec`` , brings points from the model coordinate system to the camera coordinate system.
......@@ -941,7 +950,7 @@ Returns the new camera matrix based on the free scaling parameter.
:param cameraMatrix: Input camera matrix.
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 or 12 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param imageSize: Original image size.
......@@ -1031,7 +1040,7 @@ Projects 3D points to an image plane.
:param cameraMatrix: Camera matrix :math:`A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}` .
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param distCoeffs: Input vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 or 12 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
:param imagePoints: Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or ``vector<Point2f>`` .
......@@ -1367,7 +1376,7 @@ Calibrates the stereo camera.
:param cameraMatrix1: Input/output first camera matrix: :math:`\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}` , :math:`j = 0,\, 1` . If any of ``CV_CALIB_USE_INTRINSIC_GUESS`` , ``CV_CALIB_FIX_ASPECT_RATIO`` , ``CV_CALIB_FIX_INTRINSIC`` , or ``CV_CALIB_FIX_FOCAL_LENGTH`` are specified, some or all of the matrix components must be initialized. See the flags description for details.
:param distCoeffs1: Input/output vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])` of 4, 5, or 8 elements. The output vector length depends on the flags.
:param distCoeffs1: Input/output vector of distortion coefficients :math:`(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])` of 4, 5, 8 ot 12 elements. The output vector length depends on the flags.
:param cameraMatrix2: Input/output second camera matrix. The parameter is similar to ``cameraMatrix1`` .
......@@ -1404,6 +1413,10 @@ Calibrates the stereo camera.
* **CV_CALIB_FIX_K1,...,CV_CALIB_FIX_K6** Do not change the corresponding radial distortion coefficient during the optimization. If ``CV_CALIB_USE_INTRINSIC_GUESS`` is set, the coefficient from the supplied ``distCoeffs`` matrix is used. Otherwise, it is set to 0.
* **CV_CALIB_RATIONAL_MODEL** Enable coefficients k4, k5, and k6. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.
* **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients.
* **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during the optimization. If ``CV_CALIB_USE_INTRINSIC_GUESS`` is set, the coefficient from the supplied ``distCoeffs`` matrix is used. Otherwise, it is set to 0.
The function estimates transformation between two cameras making a stereo pair. If you have a stereo camera where the relative position and orientation of two cameras is fixed, and if you computed poses of an object relative to the first camera and to the second camera, (R1, T1) and (R2, T2), respectively (this can be done with
:ocv:func:`solvePnP` ), then those poses definitely relate to each other. This means that, given (
......
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ 7b79eaf5
......@@ -234,6 +234,9 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
......@@ -534,6 +537,8 @@ enum
CALIB_FIX_K5 = CV_CALIB_FIX_K5,
CALIB_FIX_K6 = CV_CALIB_FIX_K6,
CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
CALIB_THIN_PRISM_MODEL = CV_CALIB_THIN_PRISM_MODEL,
CALIB_FIX_S1_S2_S3_S4=CV_CALIB_FIX_S1_S2_S3_S4,
// only for stereo
CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
......
modules/calib3d/src/calibration.cpp
View file @ 7b79eaf5
This diff is collapsed.
modules/imgproc/src/undistort.cpp
View file @ 7b79eaf5
......@@ -94,7 +94,7 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
distCoeffs = Mat_<double>(distCoeffs);
else
{
distCoeffs.create(8, 1, CV_64F);
distCoeffs.create(12, 1, CV_64F);
distCoeffs = 0.;
}
......@@ -108,7 +108,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(4, 1) ||
distCoeffs.size() == Size(1, 5) || distCoeffs.size() == Size(5, 1) ||
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1));
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1) ||
distCoeffs.size() == Size(1, 12) || distCoeffs.size() == Size(12, 1));
if( distCoeffs.rows != 1 && !distCoeffs.isContinuous() )
distCoeffs = distCoeffs.t();
......@@ -121,6 +122,10 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double k4 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[5] : 0.;
double k5 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[6] : 0.;
double k6 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[7] : 0.;
double s1 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[8] : 0.;
double s2 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[9] : 0.;
double s3 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[10] : 0.;
double s4 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[11] : 0.;
for( int i = 0; i < size.height; i++ )
{
......@@ -136,8 +141,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + v0;
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2) + v0;
if( m1type == CV_16SC2 )
{
int iu = saturate_cast<int>(u*INTER_TAB_SIZE);
......@@ -260,7 +265,7 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP )
{
double A[3][3], RR[3][3], k[8]={0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
double A[3][3], RR[3][3], k[12]={0,0,0,0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
CvMat matA=cvMat(3, 3, CV_64F, A), _Dk;
CvMat _RR=cvMat(3, 3, CV_64F, RR);
const CvPoint2D32f* srcf;
......@@ -289,7 +294,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
(_distCoeffs->rows == 1 || _distCoeffs->cols == 1) &&
(_distCoeffs->rows*_distCoeffs->cols == 4 ||
_distCoeffs->rows*_distCoeffs->cols == 5 ||
_distCoeffs->rows*_distCoeffs->cols == 8));
_distCoeffs->rows*_distCoeffs->cols == 8 ||
_distCoeffs->rows*_distCoeffs->cols == 12));
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
......@@ -355,8 +361,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
{
double r2 = x*x + y*y;
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x)+ k[8]*r2+k[9]*r2*r2;
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y+ k[10]*r2+k[11]*r2*r2;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
......@@ -493,7 +499,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
OutputArray _map1, OutputArray _map2, int projType, double _alpha )
{
Mat cameraMatrix0 = _cameraMatrix0.getMat(), distCoeffs0 = _distCoeffs0.getMat();
double k[8] = {0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
double k[12] = {0,0,0,0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
Mat distCoeffs(distCoeffs0.rows, distCoeffs0.cols, CV_MAKETYPE(CV_64F,distCoeffs0.channels()), k);
Mat cameraMatrix(3,3,CV_64F,M);
Point2f scenter((float)cameraMatrix.at<double>(0,2), (float)cameraMatrix.at<double>(1,2));
......@@ -531,7 +537,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
dcenter.y = (dsize.height - 1)*0.5f;
Mat mapxy(dsize, CV_32FC2);
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7];
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7], s1 = k[8], s2 = k[9], s3 = k[10], s4 = k[11];
double fx = cameraMatrix.at<double>(0,0), fy = cameraMatrix.at<double>(1,1), cx = scenter.x, cy = scenter.y;
for( int y = 0; y < dsize.height; y++ )
......@@ -549,8 +555,8 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
double x2 = q.x*q.x, y2 = q.y*q.y;
double r2 = x2 + y2, _2xy = 2*q.x*q.y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2)) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy) + cy;
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+ s2*r2*r2) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+ s4*r2*r2) + cy;
mxy[x] = Point2f((float)u, (float)v);
}
......
modules/java/generator/gen_java.py
View file @ 7b79eaf5
......@@ -165,6 +165,8 @@ missing_consts = \
('CV_CALIB_FIX_K5', 4096),
('CV_CALIB_FIX_K6', 8192),
('CV_CALIB_RATIONAL_MODEL', 16384),
('CV_CALIB_THIN_PRISM_MODEL',32768),
('CV_CALIB_FIX_S1_S2_S3_S4', 65536),
('CV_CALIB_FIX_INTRINSIC', 256),
('CV_CALIB_SAME_FOCAL_LENGTH', 512),
('CV_CALIB_ZERO_DISPARITY', 1024),
......
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